int main(int argc, char **argv)
{
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* LED灯初始化 */
switch_init(); /* 开关初始化 */
speaker_init(); /* 蜂鸣器初始化 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init(); /* 编码器初始化 */
serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
//sd_init(&Fatfs); /* 初始化SD卡，并创建文件 */
//sd_create_file(&test_data, test_data_name);
/* 命令注册 */
help_cmd_initialize((intptr_t)(NULL));
light_cmd_initialize((intptr_t)(NULL));
switch_cmd_initialize((intptr_t)(NULL));
speaker_cmd_initialize((intptr_t)(NULL));
motor_cmd_initialize((intptr_t)(NULL));
decoder_cmd_initialize((intptr_t)(NULL));
control_cmd_initialize((intptr_t)(NULL));
//sd_cmd_initialize((intptr_t)(NULL));
printf("\n Welcome to k60 software platform!");
printf("\n Press 'help' to get the help! \n");
//light_open(LIGHT4);
/* ntshell测试 */
task_ntshell((intptr_t)(NULL));
}
void startup()
{
set_core_freq(STARTUP_CORE_FREQ);
#ifndef NVIC_PRESENT
irq_init();
#endif //NVIC_PRESENT
//initialize system memory pools
mem_init();
//initialize thread subsystem, create idle task
thread_init();
#if (DBG_CONSOLE)
dbg_console_create();
#endif
#if (SW_TIMER_MODULE)
sw_timer_init();
#endif
//initialize RTC
sys_time_init();
//initialize system timers
sys_timer_init();
//user application initialize
application_init();
//initialize seed
srand();
}
static int
sys_times(unsigned long *p)
{
static int inited = 0;
if (!inited) {
inited = 1;
sys_timer_init();
}
/* target clock runs at CLOCKS_PER_SEC. Convert to HZ */
if (p)
#ifdef CYGSEM_REDBOOT_BSP_SYSCALLS_GPROF
*p = (sys_timer_ticks * HZ) / (cyg_uint64)set_freq;
#else
*p = (sys_timer_ticks * HZ) / TICKS_PER_SEC;
#endif // CYGSEM_REDBOOT_BSP_SYSCALLS_GPROF
return 0;
}
int main(int argc, char **argv)
{
int robot_state = FORWARD;
int last_robot_state = FORWARD;
int front_infrared_value = 0;
int back_infrared_value = 0;
int front_infrared_num = 0;
int back_infrared_num = 0;
int front_infrared_amount = 0;
int back_infrared_amount = 0;
int front_infrared_weight = 0;
int back_infrared_weight = 0;
uint32_t car_distence = 0;
uint8_t get_char = 0;
int change_num = 0;
bool_t switch_state = 0;
int detect_num = 0;
int angle = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* 灯初始化 */
switch_init(); /* 开关初始化 */
serial_initialize((intptr_t) (NULL)); /* 初始化串口 */
motor_init(); /* 电机初始化 */
steer_init(); /* 舵机初始化 */
decoder_init((intptr_t) (NULL)); /* 编码器初始化 */
infrared_init(); /* 红外初始化 */
while(1)
{
light_open(LIGHT2);
light_open(LIGHT3);
}
// gpio_init(PORT_NO_GET(PTC0), PIN_NO_GET(PTC0), OUT_PUT, 0);
// gpio_init(PORT_NO_GET(PTC2), PIN_NO_GET(PTC2),OUT_PUT, 1);
// while(1)
// {
// motor_output(MOTOR_LEFT, 50);
// motor_output(MOTOR_RIGHT, 50);
// }
while((get_char != 's') && (switch_state != SWITCH_ON))
{
light_open_some(0x0f);
get_char = serial_get_char(UART_NO_GET(UART_NO));
switch_state = switch_read(SWITCH0);
}
while (1)
{
get_char = serial_get_char(UART_NO_GET(UART_NO));
if(get_char == 'p')
{
last_robot_state = robot_state;
robot_state = STOP;
}
/* 读取光电管的数据 */
front_infrared_value = infrared_read_loc(INFRARED_FRONT);
back_infrared_value = infrared_read_loc(INFRARED_BACK);
/* 读取红外从右第一个亮灯的位置 */
front_infrared_num = infrared_read_num(front_infrared_value);
back_infrared_num = infrared_read_num(back_infrared_value);
/* 读取传感器亮灯的总数 */
front_infrared_amount = infrared_read_amount(front_infrared_value);
back_infrared_amount = infrared_read_amount(back_infrared_value);
/* 读取权值 */
front_infrared_weight = infrared_read_weight(front_infrared_value);
back_infrared_weight = infrared_read_weight(back_infrared_value);
switch (robot_state)
{
/**********************************前进*************************************/
case FORWARD:
light_open_some(0x01);
light_bar_open(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
if (front_infrared_amount == 1)
{
if (front_infrared_weight == 3)
{
angle = 40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -40;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 2)
{
angle = 20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -2)
{
angle = -20;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 1)
{
angle = 5;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -1)
{
angle = -5;
//motor_output2(13, 13);
}
}
else if (front_infrared_amount == 2)
{
if (front_infrared_weight == 5)
{
angle = 30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -5)
{
angle = -30;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 3)
{
angle = 10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == -3)
{
angle = -10;
//motor_output2(13, 13);
}
else if (front_infrared_weight == 0)
{
angle = 0;
//motor_output2(13, 13);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_forward(30,angle);
if (front_infrared_amount > 4)
{
if(change_num == 4)
{
robot_state = STOP;
}
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = FORWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/**********************************前进转换1*************************************/
case FORWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((gl_distanceTotal - car_distence)>9)
{
robot_state = FORWARD_CHANGE2;
}
break;
/**********************************前进转换2*************************************/
case FORWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x02);
steer_output_angle(STEER_DIR, 40);
//motor_output2(-25, -10);
speed_control_backward(30,angle);
if((back_infrared_value & 0x30) && (!(back_infrared_value & 0x03)) && (front_infrared_amount < 3))
{
robot_state = BACKWARD;
car_distence = gl_distanceTotal;
change_num ++;
}
break;
/************************************后退****************************************/
case BACKWARD:
light_bar_open(LIGHT_BAR1);
light_bar_close(LIGHT_BAR0);
light_open_some(0x04);
if (back_infrared_amount == 1)
{
if (back_infrared_weight == 3)
{
angle = -40;
//motor_output2(-5, -22);
}
else if (back_infrared_weight == -3)
{
angle = 40;
//motor_output2(-22, -5);
}
else if (back_infrared_weight == 2)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -2)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 1)
{
angle = -5;
//motor_output2(-14, -14);
}
else if (back_infrared_weight == -1)
{
angle = 5;
//motor_output2(-14, -14);
}
}
else if (back_infrared_amount == 2)
{
if (back_infrared_weight == 5)
{
angle = -40;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -5)
{
angle = 40;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 3)
{
angle = -20;
//motor_output2(-5, -20);
}
else if (back_infrared_weight == -3)
{
angle = 20;
//motor_output2(-20, -5);
}
else if (back_infrared_weight == 0)
{
angle = 0;
//motor_output2(-14, -14);
}
}
steer_output_angle(STEER_DIR, angle);
speed_control_backward(30,angle);
if(back_infrared_amount > 4)
{
detect_num ++;
if(detect_num > 2)
{
detect_num = 0;
robot_state = BACKWARD_CHANGE;
car_distence = gl_distanceTotal;
}
}
else
{
detect_num = 0;
}
break;
/************************************后退转换1****************************************/
case BACKWARD_CHANGE:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((gl_distanceTotal - car_distence)>7)
{
robot_state = BACKWARD_CHANGE2;
}
break;
/************************************后退转换2****************************************/
case BACKWARD_CHANGE2:
light_bar_open(LIGHT_BAR0);
light_bar_open(LIGHT_BAR1);
light_open_some(0x8);
steer_output_angle(STEER_DIR, -35);
speed_control_forward(30,angle);
if((front_infrared_value & 0x38) && (!(front_infrared_value & 0x03)) && (back_infrared_amount < 3))
{
robot_state = FORWARD;
change_num ++;
}
break;
/************************************停车****************************************/
case STOP:
light_open_some(0x03);
light_bar_close(LIGHT_BAR0);
light_bar_close(LIGHT_BAR1);
motor_output2(0, 0);
steer_output_angle(STEER_DIR, 0);
if(get_char == 's')
{
robot_state = last_robot_state;
}
break;
}
}
}
int main()
{
int i;
#ifdef FPGA
pll_init();
#else
bt16_pll_init();
#endif
delay(500000);
uart_init((96000000/ 460800)); // pa8
puts(pubDate);
puts("...fpga bt16 setup ok.......\n");
#ifdef FPGA
spi_int();
#endif
puts("-----1\n");
system_init();
puts("-----2\n");
timer0_start();
puts("-----3\n");
RF_init();
//----------debug
HWI_Install(1, exception_isr, 3) ; //timer0_isr
ENABLE_INT();
puts("-----4\n");
thread_init(os_create_thread, os_delete_thread);
puts("-----5\n");
sys_timer_init();
puts("-----6\n");
ble_main();
btstack_main();
/* device_manager_init(); */
/*INTALL_HWI(BT_BLE_INT, le_hw_isr, 0);
INTALL_HWI(18, le_test_uart_isr, 0);*/
lbuf_init(malloc_buf, sizeof(malloc_buf)*4);
/* btstack_v21_main(); */
puts("------------4.0 start run loop-----------\n");
while(1)
{
int c;
//asm("idle");
/*delay(100000);*/
for (i=0; i<PRIORITY_NUM; i++)
{
if (thread_fun[i]){
thread_fun[i](i);
}
}
c = getchar();
switch(c)
{
case 'A':
puts("user cmd : ADV\n");
ble_set_adv();
break;
case 'S':
puts("user cmd : SCAN\n");
ble_set_scan();
break;
default:
break;
}
/*run_loop_execute();*/
/*printf("k");*/
}
return 0;
}
int main(int argc, char **argv)
{
uint32_t buff_r;
FRESULT res;
uint32_t n = 0, j = 0;
int32_t y_temp = -1;
int temp = 0;
uint32_t time[64];
uint32_t time_temp[4];
uint32_t time_start = 0;
uint32_t time_end = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* LED灯初始化 */
serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
sd_init(&Fatfs); /* 初始化SD卡，并创建文件 */
sd_create_file(&image_data, image_data_name); /* create a file */
printf("\n Welcome to k60 software platform! \n");
light_open(LIGHT4);
res = f_open(&image_data, "0:DATA.TXT", FA_OPEN_EXISTING | FA_READ);
res = f_read(&image_data, buffer, sizeof(buffer), &buff_r);
////// for(n=0; n<64; n++)
////// {
////// for(j=0;j<4;j++)
////// {
// sys_timer_read(&time_start);
compress_image();
// sys_timer_read(&time_end);
//////
////// time_temp[j] = time_start - time_end;
//////
////// }
////// time[n] = (time_temp[0] +time_temp[1]+time_temp[2]+time_temp[3])/4;
////// }
//
res = f_open(&image_data, "0:A_IMAGE.TXT", FA_OPEN_EXISTING | FA_WRITE);
// /* 取出制表符 */
// if (image_data.fs)
// {
// for (n = 0; n < ((12800*2) +100) ; n++)
// {
// if((buffer[n] == '0') || (buffer[n] == '1'))
// f_printf(&image_data, "%c", buffer[n]);
// }
// }
// /* 写原始数据 */
//// if (image_data.fs)
//// {
//// for (n = 0; n < 12800 ; n++)
//// {
//// if(n%128 == 0)
//// {
//// y_temp ++;
//// }
////
//// if(buffer[n] == '0')
//// {
//// f_printf(&image_data, "%d\t", (n%128));
//// f_printf(&image_data, "%d\n", y_temp);
//// }
//// }
//// }
/* 写压缩后图像 */
// if (image_data.fs)
// {
// for (n = gl_SRNum; n >0 ; n--)
// {
// f_printf(&image_data, "%d\t%d\n",
// (int)StrRoadFind[n].CenterX, (int)StrRoadFind[n].CenterY);
// }
// }
for (n = 0; n <12800 ; n++)
{
buffer[n] = 0;
}
for (n = gl_SRNum; n >0 ; n--)
{
if((int)StrRoadFind[n].Width<12)
buffer[(int)StrRoadFind[n].CenterY * 128 + (int)StrRoadFind[n].CenterX] = 1;
}
if (image_data.fs)
{
for (n = 12800; n >0 ; n--)
{
if(n%128 == 0)
{
f_printf(&image_data, "\n%d\t", (int)buffer[n]);
}
else
{
f_printf(&image_data, "%d\t", (int)buffer[n]);
}
}
}
// for (n = gl_SRNum; n > 0; n--)
// {
// printf("%d\t%d\n", (int) StrRoadFind[n].CenterX,
// (int) StrRoadFind[n].CenterY);
// }
// printf("time cost is %d\n", (time_start - time_end)/100);
//// for(n=0;n<64;n++)
//// {
//// f_printf(&image_data, "%d\t%d\n",
//// n, time[n]);
//// }
////
// f_printf(&image_data, "COMPRESS OVER");
// sys_timer_read(&time_start);
// find_road();
// sys_timer_read(&time_end);
//printf("time cost is %d\n", (time_start - time_end)/100);
sd_close_file(&image_data); /* 关闭文件 */
while(1)
{
light_open(LIGHT6);
}
}
int main(int argc, char **argv)
{
uint8_t n = 1, p = 2, q = 0, f = 0;
uint32_t e = 0;
uint32_t test_time = 0;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
light_init(); /* LED灯初始化 */
// motor_init();
// serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
sd_init(&Fatfs); /* 初始化SD卡，并创建文件 */
sd_create_file(&test_data, test_data_name); /* create a file */
// printf("\n Welcome to k60 software platform! \n");
// printf(" *** This is a test for SD module! *** \n");
// light_open(LIGHT4);
//
// printf(" \n>>>> The data will be writen into the SD card! \n");
// for(test_time = 0;test_time < 65535; test_time++)
// {
// test_sd_data[test_time] = test_time;
// }
/* 写数据 */
if (test_data.fs)
{
f_printf(&test_data, "Hello SD Card!\n");
f_printf(&test_data, "This is a test!\n");
f_printf(&test_data, "1 2 3 4 5 6 7 8 9\n");
f_printf(&test_data, "~ ! # $ % ^ & * (\n");
// for(test_time = 0;test_time < 65535; test_time++)
// {
// f_printf(&test_data, "%d\t", test_sd_data[test_time]);
// }
}
f_printf(&test_data, "TEST OVER\n");
sd_close_file(&test_data); /* 关闭文件 */
//for(n=0;n<128;n++)
// while(1)
// {
// SD_SendData(n);
// SD_SendData(p);
// SD_SendData(q);
// SD_SendData(f);
// SD_SendData(CRLF);
//
// for(e = 0; e< 65535; e++);
// }
//
// printf(" \n>>>> A test for SD module is over!\n");
while(1)
{
light_open(LIGHT6);
}
}
int main(int argc, char **argv)
{
uint8_t motor_no = 0;
uint8_t motor_total_no = 2;
uint8_t n =0;
uint8_t get_char = 0;
ER motor_msg = 0;
int32_t motor_duty = 20;
/* 模块初始化 */
exc_init(); /* 中断初始化 */
sys_timer_init(); /* 系统时钟初始化 */
motor_init(); /* 电机初始化 */
//serial_initialize((intptr_t)(NULL)); /* 初始化串口 */
//gpio_init(PORT_NO_GET(PTC0), PIN_NO_GET(PTC0), OUT_PUT, 0);
//gpio_init(PORT_NO_GET(PTC2), PIN_NO_GET(PTC2),OUT_PUT, 1);
while(1)
{
motor_output(MOTOR_LEFT, 50);
motor_output(MOTOR_RIGHT, 50);
}
printf("\n Welcome to k60 software platform! \n");
while (1)
{
printf(" *** This is a test for motor module! *** \n");
printf(" \n>>>> One motor will be powered on followed by another! \n");
for (motor_no = 0; motor_no < motor_total_no; motor_no++)
{
delay(120);
switch (motor_no)
{
case 0:
motor_msg = motor_output(MOTOR0, motor_duty);
break;
case 1:
motor_msg = motor_output(MOTOR1, motor_duty);
break;
default:
printf("The motor number is error!\n");
break;
}
if (motor_msg == E_ID)
{
printf(" The ID of motor%d is error !\n", motor_no);
}
else if (motor_msg == E_ILUSE)
{
printf(" The port of motor%d is not open !\n", motor_no);
}
else
{
printf(" The motor%d has been powered on!\n", motor_no);
}
}
delay(200);
motor_duty = 0;
printf(" \n>>>> All the motors will change the direction and duty!\n");
for (n = 0; n < 16; n++)
{
if(n < 8)
{
motor_duty = motor_duty + 10;
}
else
{
motor_duty = motor_duty - 10;
}
printf("The duty of the motor is %d\n", (int)motor_duty);
motor_output(MOTOR0, motor_duty);
delay(50);
}
motor_duty = 0;
for (n = 0; n < 16; n++)
{
if(n < 8)
{
motor_duty = motor_duty - 10;
}
else
{
motor_duty = motor_duty + 10;
}
printf("The duty of the motor is %d\n", (int)motor_duty);
motor_output(MOTOR0, motor_duty);
delay(50);
}
printf(" \n>>>> A test for motor module is over!\n");
while (1)
{
printf(" \n>>>> Press 'n' to test once more.\n");
serial_rea_dat(NTSHELL_PORTID, &get_char, 1);
if (get_char == 'n')
{
printf("Once more \n");
delay(200);
break;
}
}
}
}
